Got MCP2521 to work

can-interface/components/mcp2521_hardware_interface/esp_implementation_int.cpp

@@ -0,0 +1,65 @@
+#include "mcp2521_hardware_handle.hpp"
+
+#ifdef ESP_PLATFORM
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "mcp2521_hardware_esp.hpp"
+
+static void IRAM_ATTR gpio_isr_can_handler(void* arg) {
+    MCP2521_Hardware_Handle_ESP * handle = (MCP2521_Hardware_Handle_ESP *)arg;
+    handle->isr_can_interrupt();
+}
+
+static void handleInteruptTaskCallerFn(void *arg) {
+    MCP2521_Hardware_Handle_ESP * handle = (MCP2521_Hardware_Handle_ESP *)arg;
+    handle->handleIntteruptTaskFn();
+}
+
+void MCP2521_Hardware_Handle_ESP::initPins(
+    gpio_num_t int_pin
+) {
+    canInterruptSemaphore = xSemaphoreCreateBinary();
+
+    gpio_config_t io_conf;
+    io_conf.intr_type = GPIO_INTR_NEGEDGE;
+    io_conf.mode = GPIO_MODE_INPUT;
+    io_conf.pin_bit_mask = 1 << int_pin;
+    io_conf.pull_down_en = GPIO_PULLDOWN_DISABLE;
+    io_conf.pull_up_en = GPIO_PULLUP_ENABLE;
+    gpio_config(&io_conf);
+
+    gpio_install_isr_service(0);
+    gpio_isr_handler_add(int_pin, gpio_isr_can_handler, this);
+
+    xTaskCreate(
+        (TaskFunction_t)&handleInteruptTaskCallerFn,
+        "canInterruptTask",
+        2048,
+        this,
+        5,
+        &canInterruptTaskHandle
+    );
+}
+
+void MCP2521_Hardware_Handle_ESP::handleIntteruptTaskFn() {
+    while(true) {
+        xSemaphoreTake(canInterruptSemaphore, portMAX_DELAY);
+        intHandler(intHandlerArg);
+    }
+}
+
+void MCP2521_Hardware_Handle_ESP::isr_can_interrupt() {
+    BaseType_t wokenTask = pdFALSE;
+    xSemaphoreGiveFromISR(canInterruptSemaphore, &wokenTask);
+
+    if(wokenTask) {
+        portYIELD_FROM_ISR();
+    }
+}
+
+void MCP2521_Hardware_Handle_ESP::registerIntHandler(intHandlerFunction_t handler, void * arg) {
+    intHandlerArg = arg;
+    intHandler = handler;
+}
+
+#endif